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Re: 1058's Field Oriented Drive
One of the biggest problems to overcome with this kind of system is gyro drift. The more turns and bumps a robot encounters the more the gyro and the code tends to drift in its understanding of where "North" (not magnetic north, just a consistent orientation) is. Noise on the analog line will also add to this...there's always noise.
When we tried doing this a few years back, with the old IFI system, we could only get good results for the first 20 seconds or so before the errors accumulated so badly as to cause the system to need recalibration. Have you noticed that to be a problem with the cRIO and it's better A/Ds? Is there a way for the driver to reset the definition of "North" if the gyros loose their way?
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2016 PNW Championship Chairman's; 2016 Winner Oregon City District, 2015 PNW Championship Chairman's; 2015 PNW District Engineering Inspiration; 2015 PNW District Finalist; 2014 PNW Championship Chairman's; 2014 Championship Innovation in Controls; 2013 Chairman's (Oregon); 2013 Finalist (OKC); 2012 Winner (OKC); 2012 Chairman's (OKC); 2012 Woody Flowers (Oregon); 2011 Volunteer of the Year (Oregon); 2011 Finalist & Captain (San Diego); 2011 Innovation in Control (San Diego); 2010 & 2007 Chairman's (Oregon); 2010 Regional Champions (Colorado); 2010 Innovation in Control (Colorado); 2009 & 2008 Engineering Inspiration (Oregon); 2008 Regional Champions (Oregon); 2007 Regional Finalist (Oregon); 2005 Rookie Inspiration (PNW)
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